Jose Pekerman's men have impressed this summer, winning all four of their games with relative ease to reach the last eight and book a tie with the host nation.
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"Well, we know it's going to be complicated," he told reporters. "Not only do they have pressure on them, but this kind of match is something we've always dreamed of.
"It will be complicated against a huge opponents against Brazil - particularly as they are the home team - but we'll do things as best as possible.
"We're good physically, I think. My injury has gone, I'm okay. The group is very well, physically speaking. We've shown that before and if we go to extra-time we'll be ready for that.
"Each match for us is a final. This match will be complicated because they have quality players and like us try to make the difference.
"Irrespective of who is playing, we always want to have fun on the pitch. The idea is to play another final against Brazil with humility."
Colombia have never reached the last four of the World Cup but will be buoyed by Brazil's under-par performance as they edged past Chile on penalties after extra-time following a 1-1 draw.